//The Drive
void Tank(int y1, int y2)
{
int powLeft = scaleJoystick(y1)/slowMode(joy1Btn(joySlow),joy1Btn(joySuperSlow))*1.0; // Left hand joystick, y value.
int powRight = scaleJoystick(y2)/slowMode(joy1Btn(joySlow),joy1Btn(joySuperSlow))*1.0; // Right hand joystick, y value.
if (!tankSpeed){
// This defines our speed.
powLeft = powLeft/6;
powRight = powRight/6;
}
SetMotors(powLeft, powRight);
// writeDebugStreamLine("scaleJoystick %d %d", y1, y2);
}
void loop() {
i++;
switch(i) {
case 10: slowMode(); break;
case 15: defaultMode(); break;
case 25: fastMode(); break;
case 40: i=0; break;
}
GPIO_ToggleBits(GPIOD, LEDS);
delay(300);
}
